WO2022247169A1 - Procédé de contrôle par admittance pour robot, système de contrôle par admittance, et robot - Google Patents

Procédé de contrôle par admittance pour robot, système de contrôle par admittance, et robot Download PDF

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Publication number
WO2022247169A1
WO2022247169A1 PCT/CN2021/131675 CN2021131675W WO2022247169A1 WO 2022247169 A1 WO2022247169 A1 WO 2022247169A1 CN 2021131675 W CN2021131675 W CN 2021131675W WO 2022247169 A1 WO2022247169 A1 WO 2022247169A1
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robot
admittance
acceleration
current control
control cycle
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PCT/CN2021/131675
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English (en)
Chinese (zh)
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鞠笑竹
熊友军
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深圳市优必选科技股份有限公司
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Publication of WO2022247169A1 publication Critical patent/WO2022247169A1/fr
Priority to US18/518,955 priority Critical patent/US20240091934A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39062—Calculate, jacobian matrix estimator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39339—Admittance control, admittance is tip speed-force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40586—6-DOF force sensor

Definitions

  • the present application relates to the technical field of robot control, in particular to a method for controlling the admittance of a robot, an admittance control system and a robot.
  • the mathematical model of the mass-spring-damper system can be used to design, generally, the admittance controller can be designed by adjusting the parameters of the mass-spring-damper system to achieve the desired Dynamic characteristics and dynamic response effects.
  • the admittance controller obtained by adjusting the parameters of the mass-spring-damper system mathematical model above has some technical problems in practical application. For example, various self-restrictions that will cause the robot to perform abnormally are ignored, or the requirements for certain constraints and restrictions on the robot's motion cannot be met.
  • the embodiment of the present application provides an admittance control method, an admittance control system and a robot of a robot.
  • the admittance control method can maintain the configuration of the robot within a reasonable ill-conditioned condition number range, while ensuring that the speed of the robot can reach At the same time, the singularity caused by the admittance controller exceeding the working space range is avoided.
  • Embodiments of the present application provide a method for controlling the admittance of a robot, including:
  • the obtained expected position of the current control cycle is input to a corresponding joint to control the movement of the robot.
  • the admittance control method of the robot also includes:
  • the expected position of the previous control cycle is input to the corresponding joints to control the movement of the robot.
  • the obtaining the desired position of the robot in the current control cycle includes:
  • the expected position of the robot in the current control period is obtained by direct calculation based on the transfer function of the first admittance controller.
  • the acquisition before the desired position of the robot in the current control cycle, the acquisition further includes:
  • the acquisition of the expected position of the robot in the current control cycle includes:
  • the acquisition before the desired position of the robot in the current control cycle, the acquisition further includes:
  • the acquisition of the expected position of the robot in the current control cycle includes:
  • the desired acceleration satisfies the following constraints:
  • ⁇ (n) represents the acceleration constraint coefficient of the nth control cycle; Indicates the maximum acceleration that the admittance controller corresponding to the first admittance controller transfer function can generate.
  • the calculated expected speed satisfies the following constraints:
  • ⁇ (n) represents the speed constraint coefficient of the nth control cycle; Indicates the maximum speed that the admittance controller corresponding to the first admittance controller transfer function can generate.
  • the formula for calculating the ill-conditioned condition number of the Jacobian matrix is as follows:
  • cond is the ill-conditioned condition number
  • J is the Jacobian matrix of the current control cycle
  • 2 is the second norm of the Jacobian matrix J
  • 2 is the inverse matrix J of the Jacobian matrix The second norm of -1 .
  • the first admittance controller transfer function between force and position is constructed based on a mass spring damping model.
  • Embodiments of the present application also provide a robot admittance control system, including:
  • An acquisition module configured to acquire the desired position of the robot in the current control cycle based on the first admittance controller transfer function between the force and the position;
  • a calculation module configured to determine the corresponding Jacobian matrix according to the configuration of the robot in the current control cycle, and calculate the ill-conditioned condition number of the Jacobian matrix
  • a control module configured to input the obtained expected position of the current control cycle to a corresponding joint to control the movement of the robot when the number of pathological conditions is less than a preset maximum value of the number of pathological conditions.
  • An embodiment of the present application also provides a robot, the robot includes a processor and a memory, the memory stores a computer program, and the processor is used to execute the computer program to implement the above-mentioned admittance control method of the robot.
  • An embodiment of the present application also provides a readable storage medium, which stores a computer program, and when the computer program is executed on a processor, implements the above-mentioned method for controlling the admittance of a robot.
  • the admittance control method of the robot in the embodiment of the present application obtains the expected position of the robot in the current control cycle, and judges whether to output the position command for the admittance control according to the ill-conditioned condition number of the Jacobian matrix corresponding to the current configuration of the robot. Restrictions, and corresponding restrictions when necessary, by maintaining the configuration of the robot within a reasonable range of ill-conditioned condition numbers, it is possible to ensure that the robot has better force accessibility and speed accessibility in the workspace. , to avoid singularity caused by the admittance controller exceeding the range of the working space of the robot.
  • Figure 1 shows a schematic diagram of a general admittance controller
  • Fig. 2 shows a first schematic flow chart of the admittance control method of the robot according to the embodiment of the present application
  • Fig. 3 shows a second schematic flow chart of the admittance control method of the robot according to the embodiment of the present application
  • FIG. 4 shows a schematic flow diagram of the acceleration constraint of the admittance control method of the robot according to the embodiment of the present application
  • FIG. 5 shows a schematic diagram of an application of acceleration constraints according to an embodiment of the present application
  • Fig. 6 shows a schematic flow chart of the speed constraint of the admittance control method of the robot according to the embodiment of the present application
  • FIG. 7 shows a schematic diagram of an application of speed constraints according to an embodiment of the present application.
  • Fig. 8 shows a schematic flowchart of the constraint on acceleration and velocity of the admittance control method of the robot according to the embodiment of the present application
  • FIG. 9 shows a schematic diagram of an application of acceleration and velocity constraints according to an embodiment of the present application.
  • FIG. 10 shows a schematic structural diagram of the admittance control system of the robot according to the embodiment of the present application.
  • Fig. 11 shows a first structural schematic diagram of the acquisition module of the admittance control system of the robot according to the embodiment of the present application
  • Fig. 12 shows a second structural schematic diagram of the acquisition module of the admittance control system of the robot according to the embodiment of the present application
  • Fig. 13 shows a third schematic structural diagram of the acquisition module of the admittance control system of the robot according to the embodiment of the present application.
  • the admittance controller is a type of controller widely and commonly used in the field of robotics.
  • FIG. 1 shows a schematic diagram of the working principle of an existing general admittance controller. It can be understood that the contact force between the robot and the outside world obtained through force sensor measurement or external force estimation and the reference force planned by the upper layer are used as the input of the admittance controller, and the input force command is converted into the position of the robot through the admittance controller command and send it to the corresponding joint position actuator.
  • the embodiment of the present application proposes a robot admittance control method, which constrains the position command output by the admittance controller based on the ill-conditioned condition number, while ensuring the speed operability and force operability of the robot , to avoid the singularity of the robot due to the admittance controller exceeding the scope of the work space, maintain the configuration of the robot within a reasonable range of ill-conditioned condition numbers, and limit the acceleration, velocity and position trajectory generated by the admittance controller to a reasonable within range.
  • This embodiment proposes a method for controlling the admittance of a robot, which can be applied to occasions such as humanoid robots that require robots or mechanical arms to be compliantly controlled, for example, drag teaching, balance control, legged robots, etc. landing buffer, indirect force control, etc.
  • the admittance control method includes:
  • Step S110 based on the first admittance controller transfer function between force and position, the expected position of the robot in the current control cycle is acquired.
  • Admittance control is generally considered to be a mathematical model that converts force commands into position commands.
  • a common model is a mass-spring-damper model, or other similar or derived models.
  • the admittance controller of the robot will be constructed based on the mass-spring-damper model, wherein the position command with constraints is obtained by constraining the expected position output by the admittance controller based on the ill-conditioned condition number.
  • the transfer function of the admittance controller between the force input and the position output at this time can be expressed as:
  • F represents the force, which is the input of the admittance controller of the robot
  • X represents the position, which is the output of the admittance controller
  • M is the inertial admittance operator, which will determine the gain of the admittance controller
  • C is the resistance
  • the linear admittance operator will determine the damping term of the admittance controller
  • K is the capacitive admittance operator, which will determine the response frequency of the admittance controller
  • s represents the complex frequency domain, because the s domain
  • the signal is continuous, also called continuous domain.
  • the robot control is realized based on a digital system, that is, command control is performed according to each control cycle, so it is necessary to transform the above-mentioned admittance controller transfer function from the continuous domain (ie, the s-domain) It is a discrete domain (that is, the z domain), that is, discretization processing is performed.
  • the discretization processing method may include but not limited to bilinear transformation method, first-order forward difference method, or first-order backward difference method.
  • the above-mentioned transfer function of the first admittance controller reflects the relationship between the input force and the output position. Therefore, when the force input corresponding to the control cycle is obtained, the expected position of the robot in the corresponding control cycle can be directly calculated. Optionally, if the speed and/or acceleration need to be constrained, the desired position of the robot can also be obtained through indirect calculation by sequentially performing acceleration integration and speed integration.
  • the above-mentioned input force can include the reference force planned by the upper layer and the contact force between the robot and the outside world obtained by feedback, etc., and for the feedback of the contact force between the robot and the outside world, for example, a robot of the position control type (that is, a position control type) can be in The end of the limbs will be equipped with six-dimensional force sensors, which can directly measure the contact force with the outside world; and the robot of the force control type (that is, force control type) can be equipped with torque sensors at the joints, which can be sensed by the method of external force estimation.
  • the contact force between the robot and the outside world for example, a robot of the position control type (that is, a position control type) can be in The end of the limbs will be equipped with six-dimensional force sensors, which can directly measure the contact force with the outside world; and the robot of the force control type (that is, force control type) can be equipped with torque sensors at the joints, which can be sensed by the method of external force estimation.
  • this embodiment will judge and constrain the leading position through the ill-conditioned condition number.
  • the position command output by nano-control can prevent the robot from being unable to reach the position command due to excessive external force or the robot has a strange configuration.
  • the configuration of the robot also refers to the joint angles of each joint of the robot.
  • condition number is defined as its condition number is too large.
  • the matrix is a singular matrix, which means that the configuration of the robot is singular. Therefore, the condition number of a matrix is defined as the ratio of the largest singular value to the smallest singular value in the matrix, denoted as:
  • ⁇ max represents the maximum value of the singular value in the singular value decomposition
  • ⁇ min represents the minimum value of the singular value in the singular value decomposition. Since the normal matrix is close to a circle in the feature space, and the ill-conditioned matrix is a narrow and long ellipse in the feature space, the minimum value of the condition number of the matrix is 1. It can be understood that if the ill-conditioned condition number of the current Jacobian matrix of the robot is closer to 1, it indicates that the task is easier to perform; if the ill-conditioned condition number of the Jacobian matrix is closer to infinity, it indicates that the task is more difficult to perform.
  • the force accessibility and velocity accessibility of the robot in the current state will be judged according to the ill-conditioned condition number of the Jacobian matrix of the robot. It can be understood that the order of execution of steps S110 and S120 is not limited, they may be executed at the same time, or may be executed in a specified order.
  • Step S120 Determine the corresponding Jacobian matrix according to the configuration of the robot in the current control period, and calculate the ill-conditioned condition number of the Jacobian matrix.
  • the robot can calculate the current Jacobian matrix, and then solve the ill-conditioned condition number of the current Jacobian matrix.
  • the maximum value of the singular value is the second norm of the Jacobian matrix
  • the minimum value of the singular value is the second norm of the inverse matrix of the Jacobian matrix. Therefore, the formula for calculating the ill-conditioned condition number of the Jacobian matrix is as follows:
  • cond is the ill-conditioned condition number
  • J is the Jacobian matrix of the current control cycle
  • 2 is the second norm of the Jacobian matrix J
  • 2 is the inverse matrix J of the Jacobian matrix The second norm of -1 .
  • the ill-conditioned condition number can be used as the limit threshold of the position command output of the admittance control, for example, if the ill-conditioned condition number is less than the preset maximum value of the ill-conditioned condition number , then execute step S130. Further optionally, if the number of pathological conditions is greater than or equal to the maximum value of the number of pathological conditions, step S140 is executed.
  • Step S130 when the number of pathological conditions is less than the preset maximum number of pathological conditions, input the obtained expected position of the current control cycle to the corresponding joint to control the movement of the robot.
  • Step S140 when the number of pathological conditions is greater than or equal to the maximum value of the number of pathological conditions, input the desired position of the last control cycle to the corresponding joint to control the movement of the robot.
  • n represents the nth control cycle
  • X cmd represents the final output position command
  • X des represents the desired position, therefore, it can be understood that X des (n) refers to the desired position of the nth control cycle
  • X des (n-1 ) refers to the expected position of the n-1th control cycle.
  • the maximum value of the ill-conditioned condition number is not reached, it means that the robot has not reached or is close to the singular position, and the speed and force at this time are executable, so the current calculated position output may not be restricted.
  • the expected position calculated under the current configuration reaches the maximum value of the ill-conditioned condition number, it indicates that the configuration will reach or approach the singular position.
  • the expected position of the previous control cycle can be used as the position command of the current control cycle. Perform joint control so that the robot remains in the current state and avoid singular states.
  • the ill-conditioned condition number of the Jacobian matrix of the robot is used as the basis for judging the limit threshold value of the position command output of the admittance controller, and when necessary, the position command of the robot in the workspace is limited.
  • a constraint method can be realized.
  • the motion and position changes of the robot in the workspace caused by admittance control do not need to be manually specified, but start from the current configuration of the robot, according to its speed accessibility and whether it is close to a singular state. Judging the constraint range of its position can maintain the configuration of the robot within a reasonable range of ill-conditioned condition numbers, thereby obtaining better force and speed accessibility of the robot in the workspace, and avoiding Nanocontrollers out of the workspace range and produce singularities, etc.
  • this embodiment proposes a method for controlling the admittance of a robot.
  • the actuator of the robot in addition to the fact that it may be unreachable outside a certain range of the workspace or prone to abnormalities when approaching the singular position of the robot, in addition, considering that the actuator of the robot often has torque and speed, etc. If an instruction exceeding these limits is sent to the actuator, the actuator will often trigger the self-protection logic, making the robot unable to execute. For another example, in some scenes of interacting with users, the movement of the robot is often required to be subject to certain constraints and restrictions to ensure that the user or the robot will not be damaged.
  • this embodiment will introduce For the constraints on the acceleration and/or velocity items, the expected position of the admittance control output is calculated by using the constrained acceleration and/or velocity, and then the position items are constrained based on the ill-conditioned condition number, so as to realize the multi-constraint Admittance control operation.
  • the transfer function at the acceleration level is further constructed by converting the transfer function, so as to add corresponding Constraints of the robot are realized in the process of admittance control, taking into account the robot's own limitations, such as joint torque, joint speed and other limitations.
  • the admittance control method of the robot includes the following:
  • Step S210 converting the first admittance controller transfer function between force and position into a second admittance controller transfer function between force and acceleration.
  • the admittance controller transfer function at the acceleration level can be constructed through two differential processes. It can be understood that the above-mentioned “first” in the transfer function of the first admittance controller and “second” in the transfer function of the second admittance controller are only used to distinguish different transfer functions.
  • the second admittance controller transfer function in the continuous domain is discretized to obtain the second admittance controller transfer function between force and acceleration in the discrete domain.
  • Ts is the control period
  • z represents the discrete complex frequency domain
  • the transfer function of the admittance controller between the force and the acceleration in the discrete domain will be different according to the relationship between s and z, and here only the bilinear transformation method is taken as an example for illustration.
  • a discretization method may be selected according to actual requirements, which is not limited here.
  • Step S220 calculating the expected acceleration of the robot in the current control cycle based on the transfer function of the second admittance controller.
  • the desired acceleration corresponding to the control cycle can be obtained. Still taking the above-mentioned admittance controller transfer function between the force and acceleration in the z domain obtained by the Tustin method as an example, the expression of the desired acceleration at this time is:
  • F (n) represents the input force of the current control cycle
  • F (n-1) respectively represent the force and acceleration commands of the last control cycle
  • F (n-2) Respectively represent the force and acceleration commands of the last control cycle.
  • the subscripts des and cmd are mainly used to distinguish the desired acceleration from the finalized acceleration command. If the acceleration is constrained, the acceleration command can pass the expected acceleration Get constrained. If there is no constraint on the acceleration, the acceleration command equal to the desired acceleration. In addition, if the discretization process is performed in other ways, the expression of the desired acceleration will also be different.
  • Step S230 based on the expected acceleration, calculate the expected position of the current control cycle by integrating the acceleration and the speed; wherein, the desired acceleration is constrained before the acceleration integration, and/or the calculated position is calculated before the speed integration The desired speed is constrained.
  • the realization from acceleration to velocity can be obtained by integral; the realization from velocity to position can also be obtained by integral.
  • the expression of the integrator of the discrete system can be written as:
  • X des represents the expected position
  • X cmd represents the position command
  • the acceleration command and/or the speed command may be constrained according to different actual demands. Examples are given below for only acceleration constraints, simultaneous acceleration and velocity constraints, and only velocity constraints.
  • step S230 includes:
  • Sub-step S310 performing acceleration constraints on the obtained expected acceleration to obtain a constrained acceleration.
  • Sub-step S320 calculating the desired speed of the current control cycle by integrating the acceleration based on the constrained acceleration.
  • Sub-step S330 based on the expected speed, the expected position of the current control period is calculated by integrating the speed.
  • the following formula can be used to constrain the expected acceleration, and the expected acceleration satisfies the following constraints:
  • n represents the nth control cycle
  • ⁇ is the corresponding acceleration constraint coefficient, which can be realized by the limiter in the discrete system, which is related to the expected acceleration of the current control cycle. Indicates the maximum acceleration that the admittance controller can produce.
  • the final acceleration command can be obtained through the above formula Furthermore, the acceleration command Substituting the solution expression of velocity to get the expected velocity Since there is no velocity constraint in this case, the desired velocity As the speed command, it is substituted into the solution expression of the position to obtain the desired position X des of the current control cycle, and then step S240 is executed.
  • step S230 includes:
  • Sub-step S410 calculating the expected speed of the current control cycle by integrating the acceleration based on the expected acceleration.
  • Sub-step S420 performing speed constraints on the desired speed to obtain the constrained speed.
  • Sub-step S430 based on the constraint speed, the desired position of the current control period is calculated by integrating the speed.
  • the desired speed may satisfy the following constraints:
  • n represents the nth control cycle
  • ⁇ is the corresponding speed constraint coefficient, which can also be realized by the limiter in the discrete system, which is related to the expected speed of the current control cycle. Indicates the maximum velocity that the admittance controller can produce.
  • step S240 is executed.
  • the above-mentioned first admittance controller transfer function can also be directly converted into the relationship between force and velocity
  • the third admittance controller transfer function of constructs the velocity-level transfer function by first differentiation.
  • the expected velocity of the robot in the current control cycle can be calculated based on the transfer function of the third admittance controller, and the expected velocity can be constrained; furthermore, the expected position can be calculated by integrating the velocity based on the constrained velocity.
  • step S230 includes:
  • Sub-step S510 performing acceleration constraints on the obtained expected acceleration to obtain a constrained acceleration.
  • Sub-step S520 calculating the desired speed of the current control cycle by integrating the acceleration based on the constrained acceleration.
  • Sub-step S530 performing speed constraints on the expected speed to obtain the constrained speed.
  • Sub-step S540 based on the constraint speed, the desired position of the current control period is calculated by integrating the speed.
  • the acceleration and velocity will be constrained at the same time, for example, the above-mentioned acceleration constraint formula can be used to determine the desired acceleration Constraints, and use the formula of the above-mentioned speed constraints for the desired speed Constraints are carried out, and finally the desired position X des of the current control period is calculated by using the constrained speed, and then step S240 is executed.
  • the above-mentioned acceleration constraint formula can be used to determine the desired acceleration Constraints, and use the formula of the above-mentioned speed constraints for the desired speed Constraints are carried out, and finally the desired position X des of the current control period is calculated by using the constrained speed, and then step S240 is executed.
  • Step S240 Determine the corresponding Jacobian matrix according to the configuration of the robot in the current control cycle, and calculate the ill-conditioned condition number of the Jacobian matrix.
  • Step S250 when the number of pathological conditions is less than the preset maximum number of pathological conditions, input the obtained expected position of the current control cycle to the corresponding joint to control the movement of the robot.
  • steps S240 and S250 may refer to steps S120 and S130 in the above-mentioned embodiment 1, and the optional items in the above-mentioned embodiment 1 are also applicable to this embodiment, and will not be described again here.
  • the robot's executable and safety can be further ensured, and the position command output by the admittance control can be constrained by the ill-conditioned condition number, so that the robot can avoid The position command cannot be reached due to excessive external force or the configuration of the robot is strange.
  • the acceleration and/or speed in the admittance control process are also constrained, so that the robot itself can be considered
  • the robot itself can be considered
  • physical limitations such as joint torque limit, joint speed limit, etc.
  • the current state of the robot while ensuring the speed and force accessibility of the robot, avoid the occurrence of problems caused by the admittance controller exceeding the working space.
  • Singularity, and the acceleration, speed and position trajectory generated by the admittance control are limited within a reasonable range, so as to meet the needs of more occasions.
  • the admittance control system 100 for a robot includes:
  • the obtaining module 110 is configured to obtain the expected position of the robot in the current control cycle based on the first admittance controller transfer function between force and position.
  • the computing module 120 is configured to determine the corresponding Jacobian matrix according to the configuration of the robot in the current control cycle, and calculate the ill-conditioned condition number of the Jacobian matrix.
  • the control module 130 is configured to input the obtained expected position of the current control cycle to the corresponding joint to control the movement of the robot when the number of pathological conditions is less than a preset maximum value of the number of pathological conditions.
  • control module 130 is also configured to input the expected position of the last control cycle to the corresponding joint to control the movement of the robot when the pathological condition number is greater than or equal to the maximum value of the pathological condition number.
  • the expected position of the robot in the current control cycle can be directly calculated based on the first admittance controller transfer function, or the expected position can also be calculated indirectly.
  • the indirect calculation will be described below in conjunction with specific implementation methods.
  • the admittance control system of the robot further includes: a function processing module, the function processing module is used to convert the first admittance controller transfer function between force and position into the second admittance between force and acceleration Controller transfer function. Furthermore, the obtaining module 110 is used to obtain the expected position of the robot in the current control cycle.
  • the acquisition module 110 includes an acceleration calculation submodule 201, an acceleration constraint submodule 202, a speed calculation submodule 203 and a position calculation submodule 204, wherein the acceleration calculation submodule 201 uses Based on the transfer function of the second admittance controller, the expected acceleration of the robot in the current control cycle is calculated.
  • the acceleration constraint sub-module 202 is used for performing acceleration constraint on the obtained expected acceleration to obtain a constraint acceleration.
  • the speed calculation sub-module 203 is used for calculating the expected speed of the current control period by integrating the acceleration based on the constrained acceleration.
  • the position calculation sub-module 204 is used for calculating the expected position of the current control cycle by integrating the speed based on the expected speed.
  • the acquisition module 110 includes an acceleration calculation submodule 211, a speed calculation submodule 212, a speed constraint submodule 213 and a position calculation submodule 214, wherein the acceleration calculation submodule 211 uses Based on the transfer function of the second admittance controller, the expected acceleration of the robot in the current control cycle is calculated.
  • the speed calculation sub-module 212 is used for calculating the expected speed of the current control period by integrating the acceleration based on the expected acceleration.
  • the speed constraint sub-module 213 is used to perform speed constraints on the desired speed to obtain the constrained speed.
  • the position calculation sub-module 214 is used for calculating the expected position of the current control cycle by integrating the speed based on the constrained speed.
  • the function processing module can convert the first admittance controller transfer function into a third admittance between force and velocity nanocontroller transfer function. Furthermore, the acquisition module 110 is used to calculate the expected position of the robot in the current control cycle based on the third admittance controller transfer function, and constrain the expected speed, and calculate by integrating the speed based on the constrained speed Get the desired position for the current control cycle.
  • the acquisition module 110 includes an acceleration calculation submodule 221 , an acceleration constraint submodule 222 , a velocity calculation submodule 223 , a velocity constraint submodule 224 and a position calculation submodule 225 .
  • the acceleration calculation sub-module 221 is used for calculating the expected acceleration of the robot in the current control cycle based on the transfer function of the second admittance controller.
  • the acceleration constraint sub-module 222 is used to perform acceleration constraint on the obtained expected acceleration to obtain a constraint acceleration.
  • the speed calculation sub-module 223 is used to calculate the desired speed of the current control cycle by integrating the acceleration based on the constrained acceleration.
  • the speed constraint sub-module 224 is used to perform speed constraints on the desired speed to obtain the constrained speed.
  • the position calculation sub-module 225 is used to calculate the expected position of the current control cycle by integrating the speed based on the constraint speed.
  • the device in this embodiment corresponds to the method in the above-mentioned embodiment 1, and the optional items in the above-mentioned embodiment 1 are also applicable to this embodiment, so the description will not be repeated here.
  • the present application also provides a robot, for example, it may be a humanoid robot or the like.
  • the robot includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program, so that the robot executes the above-mentioned admittance control method of the robot or the above-mentioned admittance control system of the robot functions of each module.
  • the present application also provides a readable storage medium for storing the computer program used in the above robot.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams can be implemented by a dedicated hardware-based system that performs the specified function or action may be implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • each functional module or unit in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: various media that can store program codes such as U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)

Abstract

La présente invention concerne un procédé de contrôle par admittance pour un robot, le procédé comprenant les étapes consistant à : sur la base d'une première fonction de transfert de contrôleur par admittance entre une force et une position, acquérir la position attendue d'un robot dans un cycle de contrôle actuel ; déterminer une matrice Jacobienne correspondante en fonction de la configuration du robot dans le cycle de contrôle actuel, et calculer le nombre de mauvais conditionnement de la matrice Jacobienne ; et lorsque le nombre de mauvais conditionnement est inférieur à une valeur maximale de nombre de mauvais conditionnement prédéfinie, entrer la position attendue acquise dans la période de contrôle actuelle à une articulation correspondante, de façon à commander le déplacement du robot. La présente invention concerne également un système de contrôle par admittance d'un robot, le système comprenant un module d'acquisition (110), un module de calcul (120) et un module de contrôle (130) ; et le système de contrôle par admittance adopte un procédé de contrôle par admittance correspondant. La présente invention concerne également un robot comprenant un processeur et une mémoire ; un programme informatique est stocké dans la mémoire, et le processeur est utilisé pour exécuter le programme informatique, ce qui permet de mettre en œuvre un procédé de contrôle par admittance correspondant pour un robot. La présente invention concerne également un support de stockage lisible sur lequel est stocké un programme informatique ; lorsque le programme informatique est exécuté sur un processeur, un procédé de contrôle par admittance correspondant pour un robot est mis en œuvre. Dans cet agencement, la configuration d'un robot peut être maintenue dans une plage de nombres de mauvais conditionnement raisonnable, empêchant les anomalies provoquées par un dispositif de contrôle par admittance dépassant une plage d'espace de travail tout en garantissant l'accessibilité à la vitesse et l'accessibilité à la force du robot.
PCT/CN2021/131675 2021-05-26 2021-11-19 Procédé de contrôle par admittance pour robot, système de contrôle par admittance, et robot WO2022247169A1 (fr)

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